The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances

Binaud, Nicolas; Cardou, Philippe; Caro, Stéphane; Wenger, Philippe

doi:10.1115/detc2010-28635

Cited by 14 publications

(21 citation statements)

References 15 publications

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“…It should be mentioned here that it is decided to use a simple model for computing the robot accuracy, but any other more complicated models can be used (e.g. models that take into account flexibilities [14], clearances [15], etc.). However, this simple model is enough for our demonstration.…”

Section: A Accuracy Analysismentioning

confidence: 99%

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Minimal representation for the control of the Adept Quattro with rigid platform via leg observation considering a hidden robot model

Rosenzveig

Briot²,

Martinet

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Previous works on the Gough-Stewart (GS) platform have shown that its visual servoing using the observation of its leg directions was possible by observing only three of its six legs but that the convergence to the desired pose was not guarantied. This can be explained by considering that the visual servoing of the leg direction of the GS platform was equivalent to controlling another robot, the 3-UPS that has assembly modes and singular configurations different from those of the GS platform. Considering this hidden robot model allowed the simplification of the singularity analysis of the mapping between the leg direction space and the Cartesian space.In this paper, the work on the definition of the hidden robot models involved in the visual servoing using the observation of the robot leg directions is extended to another robot, the Adept Quattro. It will be shown that the hidden robot model is completely different from the model involved in the control of the GS platform. Therefore, the results obtained for the GS platform are not valuable for this robot. The hidden robot has assembly modes and singular configurations different from those of the Quattro. An accuracy analysis is performed to show the importance of the leg selection. All these results are validated on a Quattro simulator created using ADAMS/Controls and interfaced with Matlab/Simulink.

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Section: A Accuracy Analysismentioning

confidence: 99%

“…× is the antisymetric matrix associated to a 3D vector [5]), the combination of (12), (15) and (16) gives…”

Section: Control Scheme and Interaction Matrixmentioning

confidence: 99%

Minimal representation for the control of the Adept Quattro with rigid platform via leg observation considering a hidden robot model

Rosenzveig

Briot²,

Martinet

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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show abstract

“…It should be mentioned here that it is decided to develop a simple model for computing the robot accuracy, but any other more realistic models can be used (e.g. non linearized models [52], models that take into account flexibilities [54], clearances [55], etc.). However, this model is enough for giving a global idea the accuracy problems of the controlled robots, as was done in Section 5.…”

Section: Discussionmentioning

confidence: 99%

Minimal representation for the control of parallel robots via leg observation considering a hidden robot model

Briot¹,

Rosenzveig²,

Martinet

et al. 2016

Mechanism and Machine Theory

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Previous works on the visual servoing of parallel robots using the observation of their leg directions validated the feasibility of the approach but they have enlighten two main surprising results for which no answer was given: (i) the observed robot which is composed of n legs could be controlled in most cases using the observation of only m leg directions (m < n), and that (ii) in some cases, the robot did not converge to the desired end-effector pose, even if the observed leg directions did (i.e. there was not a global diffeomorphism between the observation space and the robot space). Recently, it was shown that the visual servoing of the leg directions of the Gough-Stewart platform and the Adept Quattro with 3 translational degrees of freedom was equivalent to controlling other virtual robots that have assembly modes and singular configurations different from those of the real ones. These hidden robot models are tangible visualizations of the mapping between the observation space and the real robots Cartesian space. Thanks to this concept, all the aforementioned points were answered for the mentioned robots. In this paper, the concept of hidden robot model is generalized for any type of parallel robots controlled using visual servos based on the observation of the leg directions. It is shown that the concept of hidden robot model is a powerful tool that gives useful insights about the visual servoing of robots using leg direction observation. With the concept of hidden robot model, the singularity problem of the controller can be addressed and the convergence issues of the controller can be explained, understood and solved. All these results are validated in simulations and through experiments on a Quattro robot.

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“…The relative motions of the two parts of a joint with clearance may cause undesirable effects such as movingplatform pose errors [1], [2], [3], [4], [5], impacts, wear, vibrations and noise [6], [7]. Their influence on the behaviour of the manipulator is not repeatable and therefore difficult to model and to calibrate, and reducing them usually leads to high manufacturing costs.…”

Section: Introductionmentioning

confidence: 99%

Assembly conditions of parallel manipulators considering geometric errors, joint clearances, link flexibility and joint elasticity

Corradi

Caro²,

Chablat³

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents a methodology to analyze the assembly conditions of parallel manipulators and compute the maximum pose errors of their moving platform, while considering geometric errors, joint clearances, link flexibility and joint elasticity. First, the proposed methodology consists in determining the zone(s) of the manipulator workspace in which the manipulator can be assembled assuming that its links and joints are rigid, while taking into account geometric errors and joint clearances. Then, the minimum energy required to assemble the manipulator in the non-assembly zone(s) is computed, while considering link flexibility and joint elasticity. The maximum pose errors of the moving-platform are also computed throughout the manipulator workspace. Finally, a two-dof spatial parallel manipulator, named IRSbot-2, is used as an illustrative example.

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The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances

Cited by 14 publications

References 15 publications

Minimal representation for the control of the Adept Quattro with rigid platform via leg observation considering a hidden robot model

Minimal representation for the control of the Adept Quattro with rigid platform via leg observation considering a hidden robot model

Minimal representation for the control of parallel robots via leg observation considering a hidden robot model

Assembly conditions of parallel manipulators considering geometric errors, joint clearances, link flexibility and joint elasticity

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